99312_UR5_User_Manual_zh_E67ON_Global.pdf - 第84页

SF# Safety Func ti o n D e s c ri pti on What i s c ont rol l ed? SF15 Inte rnal as a fun cti on w i th dua l out puts U R R o bot N o t R e duc ed Mo de: D i gi tal O utpu t Whene ve r the r o bot is N O T i n r e duc e…

SF#

Safety

Function

Description

What is

controlled?

SF9

Internal

Joint

Speed

Limit

Exceeding the momentum limit results in a Cat 0 stop5 (IEC

60204-1). The momentum limit is very useful for limiting transient

impacts. The Momentum Limit affects the entire robot arm.

Robot Arm

SF10

Internal

Power

Limit

Exceeding the power limit results in a Cat 0 stop5 (IEC 60204-1).

This function monitors the mechanical work (sum of joint torques

times joint angular speeds) performed by the robot, which also

affects the current to the robot arm as well as the speed of the

robot arm. This function dynamically limits the current/torque but

maintain the speed.

Robot Arm

SF#

Safety

Function

Description

What is

controlled?

SF11

Internal

as a

function

with

dual

outputs

UR Robot

Estop

Output

When configured for Estop output and there is an Estop condition

(see SF1), the dual outputs are LOW. If there is no Estop

condition, dual outputs are high. Pulses are not used but they are

tolerated. For the integrated functional safety rating with an

external Estop device, add the PFHd of the UR Estop function

(SF0 or SF1) to the PFHd of the external logic (if any) and its

components (e.g. Estop pushbutton).

External

connection

to logic

and/or

equipment

SF12

Internal

as a

function

with

dual

outputs

UR Robot

Moving:

Digital

Output

Whenever the robot is moving (motion underway), the dual digital

outputs are LOW. Outputs are HIGH when no movement. The

functional safety rating is for what is within the UR robot. The

integrated functional safety performance requires adding this

PFHd to the PFHd of the external logic (if any) and its

components.

External

connection

to logic

and/or

equipment

SF13

Internal

as a

function

with

dual

outputs

UR Robot

Not

stopping:

Digital

Output

Whenever the robot is STOPPING (in process of stopping or in a

stand-still condition) the dual digital outputs are HIGH. When

outputs are LOW, robot is NOT in the process or stopping and

NOT in a stand-still condition. The functional safety rating is for

what is within the UR robot. The integrated functional safety

performance requires adding this PFHd to the PFHd of the

external logic (if any) and its components.

External

connection

to logic

and/or

equipment

SF14

Internal

as a

function

with

dual

outputs

UR Robot

Reduced

Mode:

Digital

Output

Whenever the robot is in reduced mode, the dual digital outputs

are LOW. See Robot Reduced Mode below. The functional

safety rating is for what is within the UR robot. The integrated

functional safety performance requires adding this PFHd to the

PFHd of the external logic (if any) and its components.

External

connection

to logic

and/or

equipment

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SF#

Safety

Function

Description

What is

controlled?

SF15

Internal

as a

function

with

dual

outputs

UR Robot

Not

Reduced

Mode:

Digital

Output

Whenever the robot is NOT in reduced mode, the dual digital

outputs are LOW. The functional safety rating is for what is within

the UR robot. The integrated functional safety performance

requires adding this PFHd to the PFHd of the external logic (if

any) and its components.

External

connection

to logic

and/or

equipment

TUV

NORD

Certified

Safety

Function

Description

What is

controlled?

Robot

Reduced

Mode

Internal

Logic and

Outputs,

with Dual

Inputs (1

through 4)

Reduced Mode can be initiated by a safety plane/ boundary

(starts when at 2cm of the plane and reduced mode settings

are achieved within 2cm of the plane) or by use of an input to

initiate (will achieve reduced settings within 500ms). When the

external connections are Low, Reduced Mode is initiated.

Reduced Mode means that ALL reduced mode limits are

ACTIVE Reduced mode is not a safety function, rather it is a

state affecting the settings of the following safety function

limits: SF3 joint position, SF4 joint speed, SF6 TCP pose limit,

SF7 TCP speed, SF8 TCP force, SF9 momentum, and SF10

power.

Robot Arm

Safeguard

Reset

Internal

Logic and

Outputs,

with Dual

Inputs (1

through 4)

When configured for Safeguard Reset and the external

connections transition from low to high, the safeguard stop

RESETS Safety input to initiate a reset of safeguard stop

safety function SF2.

Robot

Enabling

Device

External

Enabling

Device as

input to

UR Robot

logic

When the external Enabling Device connections are Low, a

Safeguard Stop (SF2) is initiated. Recommendation: Use with

a mode switch as a safety input. If a mode switch is not used

and connected to the safety inputs, then the robot mode will be

determined by the User Interface. If the User Interface is in:

• “run mode”, the enabling device will not be active.

• “programming mode”, the enabling device will be active.

It is possible to use password protection for changing

the mode by the User Interface.

Robot

UR5 74 用户手册

TUV

NORD

Certified

Safety

Function

Description

What is

controlled?

Mode

Selection

External

Mode

Switch

using dual

Inputs (1

through 4)

and

internal

logic

When the external connections are Low, Operation Mode

(running) is in effect. When High, the mode is programming or

teach. Must be used with an Enabling Device as a safety input.

When in Teach/Program (Mode switch inputs high), enabling

device is required for operation. When in teach/program,

initially the TCP speed will be limited to 250mm/s. The speed

can manually be increased by using the pendant user interface

“speed-slider”, but upon activation of the enabling device, the

speed limitation will reset to 250mm/s.

Robot

1.20. Table 2: Compliance and ISO 13849-1

Functional Safety Information

TUV

NORD

Certified

Safety Function

Limits or

USER

configuration

or Factory

Setting

Stop Category

per IEC 60204-1

IEC 61800-5-2

Stop: power to

final switching

devices

retained for

Category 2

stop

PLd

Cat

PFHd

3/5/10

SF0

Emergency Stop

There are two

separate

Emergency Stop

safety functions:

SF0 and SF1

Cat 1 Stop

524ms time-

delay before Cat

0 stop is initiated

NA 3 4.38E-8

SF1

Emergency Stop

There are two

separate safety

functions: SF0

and SF1

Cat 1 Stop when

at SS1 standstill,

Cat 0 stop

initiated

SS1 when at

SS1 standstill,

Cat 0 stop

initiated

2 3.16E-07

SF2

Safeguard stop

(Protective Stop)

No Cat 2 SS2 2 3.15E-07

SF3

Joint Position

Limit (soft axis

limiting)

Limits Cat 0 NA 2 3.15E-07

SF4 Joint Speed Limit Limits Cat 0 NA 2 3.15E-07

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